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1. 发明公开

EP2881226A4 WORK MACHINE PROVIDED WITH ARTICULATED ROBOT AND ELECTRIC COMPONENT MOUNTING MACHINE 审中-公开
标题翻译：用于安装电气部件关节机器人和机器工作机
公开(公告)号：EP2881226A4
公开(公告)日：2017-01-11
申请号：EP12882162
申请日：2012-08-02
申请人： FUJI MACHINE MFG
发明人： FUJITA MASATOSHI , KODAMA SEIGO , NAGATA RYO
IPC分类号： B25J9/16 , G05B19/402
CPC分类号： B25J9/0096 , B25J9/1697 , G05B19/418 , G05B2219/40613 , G05B2219/45029 , G05B2219/45031 , H05K13/0404 , H05K13/08 , Y10S901/02 , Y10S901/41 , Y10S901/47
摘要： In a work machine including an articulated robot (16) which is provided with a work head (14) and moves the work head, imaging devices (30 and 32) which image at least part of a workpiece P or part (36) of the work machine are attached to a distal end of the robot, and a target operation position of the robot is corrected on the basis of position data regarding a plurality of feature points of the workpiece, created on the basis of imaging data obtained through imaging performed by the imaging devices and design data of the workpiece, or position data regarding a plurality of feature points set for the work machine. Since an operation of the robot is optimized on the basis of imaging data, an actual work position of the work head or an actual movement path of the work head becomes accurate, and thus work can be performed with high accuracy.
摘要翻译：在作业机，其包括上关节机器人（16），所有这些都被提供有一个工作头（14）和移动工作头，成像装置（30和32），其图像工件P或部分（36）的至少一部分的作业机被安装在机器人的末端，并且机器人的一个目标操作位置关于所述工件的特征点的多个位置数据的基础上校正，通过执行成像获得的成像数据的基础上创建的成像装置和工件的设计数据，或位置数据关于用于作业机械设定特征点的多元性。由于在机器人的手术成像数据的基础上向工作头的或工作头的实际移动路径上实际工作位置上优化变为准确，因而工作可以以高精度来执行。

2. 发明公开

EP3125662A4 COMPONENT MOUNTING DEVICE 有权转让
标题翻译： KOMPONENTENMONTAGEVORRICHTUNG
公开(公告)号：EP3125662A4
公开(公告)日：2017-06-21
申请号：EP14886847
申请日：2014-03-27
申请人： FUJI MACHINE MFG
发明人： IISAKA JUN , ITO HIDETOSHI , KAWAI HIDETOSHI , OYAMA SHIGETO , KATO NAOHIRO , NAKANE KUNIYASU , NAGATA RYO , NAGIRI KEISUKE
IPC分类号： H05K13/04 , H05K13/08
CPC分类号： H05K13/08 , H05K13/04
摘要： Provided is a component mounting device in which shortening of a mounting time from the supply of a component to the mounting of the component on an object via imaging by an imaging device is possible. A component mounting machine moves a mounting head from a supply position P1 to each of mounting positions P3 and P4 of a circuit board CB via an imaging position P2. Further, the component mounting machine performs control such that the mounting head moves in a direction of movement at the time of imaging that is either of an X-axis direction or a Y-axis direction when passing through the imaging position P2. The component mounting machine determines the direction of movement at the time of imaging, according to a first X-axis distance Lx and a first Y-axis distance Ly from the imaging position P2 to each of the mounting positions P3 and P4.
摘要翻译：提供了一种部件安装装置，其中可以通过成像装置的成像来缩短从部件的供应到将部件安装在物体上的安装时间。元件安装机器通过成像位置P2将安装头从供应位置P1移动到电路板CB的安装位置P3和P4中的每一个。此外，元件安装机进行控制，使得安装头在通过成像位置P2时在X轴方向或Y轴方向中的任一方向的成像时沿移动方向移动。元件安装机根据从成像位置P2到每个安装位置P3和P4的第一X轴距离Lx和第一Y轴距离Ly来确定成像时的移动方向。

3. 发明公开

EP3086468A4 LINEAR MOTOR THRUST CONSTANT DERIVING METHOD AND MOVEMENT CONTROL METHOD, AND LINEAR MOTOR THRUST CONSTANT DERIVING DEVICE AND MOVEMENT CONTROL DEVICE 有权转让
标题翻译：直线电机推力常数铅工艺和运动控制法和线性电动机推力定流量装置和运动控制装置
公开(公告)号：EP3086468A4
公开(公告)日：2017-01-18
申请号：EP13899693
申请日：2013-12-20
申请人： FUJI MACHINE MFG
发明人： KAWASHIMA HIROKI , NAGATA RYO
IPC分类号： H02P25/06 , H02K41/00 , H02P6/00
CPC分类号： H02P25/064 , H02K41/031 , H02P6/006 , H02P25/06 , H02P2205/05
摘要： The present invention provides a method of deriving a thrust constant representing an occurrence rate of a thrust in relation to a current in a linear motor which is provided with a track member which includes a magnet extending in a movement direction, and a moving body which includes a coil mounted to the track member in a movable manner, the linear motor generating a thrust in the movement direction between the magnet and the coil by causing the current to flow in the coil, in which an average thrust constant which is an average thrust constant in a long movement zone on the track member is derived based on actual measurement, local thrust constants which are local thrust constants of a plurality of locations on the track member are derived based on each actual measurement, and the thrust constants of arbitrary positions on the track member are derived based on the average thrust constant and the local thrust constant of each location. Accordingly, it is possible to increase derivation precision of the thrust constant more than in the related art based on actual measurement under a plurality of actual measurement conditions.
摘要翻译：本发明提供了导出的推力恒定在相对于推力的电流的线性电动机的发生率表示所有这一切都被提供有一个轨道构件，其包括磁体在一个运动方向上延伸，的一种方法和一种移动体，其包括安装到所述轨道构件以可移动的方式的线圈，线性马达通过使电流在线圈中流动，其中，平均推力的恒定所有这是对平均推力常数产生在所述磁体和所述线圈之间的移动方向的推力在轨道构件上的长的运动区，导出基于实际测量中，本地推力常数哪些是轨道构件上的位置的多个地方推力常数基于每个实际测量导出的，并且在任意位置的推力常数轨道构件是基于平均推力常数，并且每个位置的本地推力常数而得。因此，能够增加推力的精度推导恒定比的实际测量条件的一组下根据实际测量在相关技术中更。

4. 发明公开

EP3076260A4 DEVICE AND METHOD FOR ASSISTING IN DESIGN IMPROVEMENT WORK FOR MECHANICAL DEVICE 有权转让
标题翻译：装置和方法支持设计装修工作，为机械设备的
公开(公告)号：EP3076260A4
公开(公告)日：2017-01-25
申请号：EP13898413
申请日：2013-11-26
申请人： FUJI MACHINE MFG
发明人： KAINUMA MAKOTO , FUJITA MASATOSHI , NAGATA RYO , KIDO TAKASHI
IPC分类号： G05D3/00 , G05B19/401 , G05B23/02
CPC分类号： G06F17/5086 , G05B19/401 , G05B2219/37344 , G05B2219/37378 , G05B2219/49177

5. 发明公开

EP2922378A4 WORK DEVICE AND COMPONENT MOUNTING DEVICE 有权转让
标题翻译： ARBEITSVORRICHTUNG UND KOMPONENTENMONTAGEVORRICHTUNG
公开(公告)号：EP2922378A4
公开(公告)日：2016-04-20
申请号：EP12888301
申请日：2012-11-16
申请人： FUJI MACHINE MFG
发明人： KIDO TAKASHI , FUJITA MASATOSHI , NAGATA RYO , KAINUMA MAKOTO
IPC分类号： H05K13/04
CPC分类号： H05K13/0413 , G05B2219/42097 , G05B2219/42104 , G05B2219/42109 , G05B2219/42117 , G05B2219/42126

6. 发明公开

EP2978297A4 COMPONENT MOUNTING DEVICE 有权转让
标题翻译：组件安装装置
公开(公告)号：EP2978297A4
公开(公告)日：2016-04-06
申请号：EP13879234
申请日：2013-03-19
申请人： FUJI MACHINE MFG
发明人： FUJITA MASATOSHI , KIDO TAKASHI , NAGATA RYO , KAINUMA MAKOTO
IPC分类号： H05K13/04
CPC分类号： H05K13/0413

7. 发明公开

EP3086452A4 LINEAR MOTOR DEVICE 有权转让
标题翻译： LINEARMOTORVORRICHTUNG
公开(公告)号：EP3086452A4
公开(公告)日：2017-08-02
申请号：EP13899866
申请日：2013-12-20
申请人： FUJI MACHINE MFG
发明人： NAGATA RYO , KIDO TAKASHI , SHIRAKAWA YOSHIHIRO , KURONO MASAKI
IPC分类号： H02K41/03 , H02K9/00 , H02K9/04 , H02K11/01
CPC分类号： H02K11/01 , H02K1/02 , H02K1/12 , H02K1/34 , H02K9/00 , H02K9/04 , H02K41/02 , H02K41/031
摘要： A linear motor device comprising: a path member including a magnet extending in a movement direction; and a moving body including a coil that is movably mounted on the path member; the linear motor device generates thrust in the movement direction between the magnet and the coil by current being passed through the coil; the moving body including the coil further includes a magnetic shielding target object that requires mitigation from the influence of a magnetic field formed by the magnet, and a magnetic shielding member formed from strongly magnetic material that shields the magnetic shielding target; and, the magnetic shielding member includes a parallel shielding plate provided parallel to the movement direction between the magnetic shielding target object and the magnet, and a perpendicular shielding plate provided extending away from the magnet in a direction perpendicular to the movement direction at at least one of a front edge and a rear edge of the parallel shielding plate in the movement direction. Accordingly, the effect of magnetic shielding of the magnetic shielding target object from the magnetic field formed by the magnets is improved.
摘要翻译： 1。一种线性电动机装置，其特征在于，具备：包含沿移动方向延伸的磁铁的路径部件以及移动体，其包括可移动地安装在所述路径构件上的线圈; 线性电动机装置通过流过线圈的电流产生磁体与线圈之间在运动方向上的推力; 包括线圈的移动体还包括需要缓和由磁体形成的磁场的影响的磁屏蔽目标物体和由强磁性材料形成的屏蔽磁屏蔽目标的磁屏蔽部件; 并且，所述磁屏蔽部件包括与所述磁屏蔽对象物和所述磁体之间的移动方向平行地设置的平行屏蔽板以及垂直屏蔽板，所述垂直屏蔽板在与所述移动方向垂直的方向上远离所述磁体延伸设置在至少一个在平行屏蔽板的移动方向上的前边缘和后边缘之间。因此，磁屏蔽目标物体对由磁体形成的磁场的磁屏蔽效果得到改善。

8. 发明公开

EP3018546A4 AUTOMATIC SYSTEM THAT CAN ESTIMATE LOCATIONS NEEDING MAINTENANCE 有权转让
标题翻译：自动化系统用于确定维护贫困点
公开(公告)号：EP3018546A4
公开(公告)日：2017-02-08
申请号：EP13888562
申请日：2013-07-05
申请人： FUJI MACHINE MFG
发明人： KAINUMA MAKOTO , FUJITA MASATOSHI , NAGATA RYO , KIDO TAKASHI
IPC分类号： G05B23/02 , G05B13/04 , G05B19/406 , H05K13/04
CPC分类号： G05B23/0245 , G05B13/04 , G05B19/406 , G05B2219/42271 , H05K13/08
摘要： An automated system including a control target device and a control device which controls the control target device, in which it is possible to accurately estimate whether maintenance of the control target device is required and a portion requiring maintenance. In the automated system, a control device 100 is an adaptive control device including a position control system 112 which outputs a control command which controls an X-axis motor 78 which is a drive source of a control target device, an adaptive identifier 110 which estimates a parameter indicating a state of the control target device based on the control command and a control target output from the control target device, and an adaptive compensator 118 which, based on the parameter which is estimated by the adaptive identifier, compensates the control command from the position control system to the control target device such that the control target device performs a planned operation regardless of a change in the parameter, and, the automated system includes a maintenance required-or-not determining section 130 which estimates whether the control target device requires maintenance and a portion requiring maintenance based on the parameter which is estimated by an adaptive identifier 114.

9. 发明公开

EP2734023A4 MANUFACTURING MACHINE 有权转让
标题翻译：生产机器
公开(公告)号：EP2734023A4
公开(公告)日：2015-05-13
申请号：EP12811792
申请日：2012-04-26
申请人： FUJI MACHINE MFG
发明人： NAGIRI KEISUKE , FUJITA MASATOSHI , NAGATA RYO
IPC分类号： H05K13/04 , B23P19/02 , G05B19/19
CPC分类号： B23P19/02 , G01L5/0038 , G05B19/19 , G05B2219/42092 , G05B2219/45143
摘要： With a low-frequency-band signal component extracted by a low-frequency-band signal extraction filter 16 from an output signal of a piezoelectric element 15 (an impact-force detection signal) when a tip part 11a of a mobile body 11 collides with a pressure target 14, the magnitude of an impact force exerted on the tip part 11a of the mobile body 11 is extracted, and feedback control is performed by a feedback control unit 17 so that the driving force of an actuator 13 (a pressure force of the mobile body 11 with respect to the pressure target 14) complies with a pressure-force instruction. Furthermore, based on a high-frequency-band signal component extracted by a high-frequency-band signal extraction filter 18 from the output signal of the piezoelectric element 15 (the impact-force detection signal), a drive voltage of the piezoelectric element 15 is controlled by an impact-mitigating control unit 19 so that the impact force when the tip part 11a of the mobile body 11 collides with the pressure target 14 is mitigated.

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